The Programmable Real-Time Unit Subsystem (PRUSS) consists of dual 32-bit RISC cores (Programmable Real-Time Units, or PRUs) for program execution. This patch adds a remoteproc platform driver for managing the individual PRU RISC cores life cycle.
The driver currently supports the AM65xx SoC
Signed-off-by: Keerthy j-keerthy@ti.com --- drivers/remoteproc/Kconfig | 11 + drivers/remoteproc/Makefile | 1 + drivers/remoteproc/pru_rproc.c | 405 +++++++++++++++++++++++++++++++++ 3 files changed, 417 insertions(+) create mode 100644 drivers/remoteproc/pru_rproc.c
diff --git a/drivers/remoteproc/Kconfig b/drivers/remoteproc/Kconfig index 7c2e4804b5..24e536463b 100644 --- a/drivers/remoteproc/Kconfig +++ b/drivers/remoteproc/Kconfig @@ -81,4 +81,15 @@ config REMOTEPROC_TI_POWER help Say 'y' here to add support for TI power processors such as those found on certain TI keystone and OMAP generation SoCs. + +config REMOTEPROC_TI_PRU + bool "Support for TI's K3 based PRU remoteproc driver" + select REMOTEPROC + depends on DM + depends on TI_PRUSS + depends on ARCH_K3 + depends on OF_CONTROL + help + Say 'y' here to add support for TI' K3 remoteproc driver. + endmenu diff --git a/drivers/remoteproc/Makefile b/drivers/remoteproc/Makefile index 69ae7bd1e8..f0e83451d6 100644 --- a/drivers/remoteproc/Makefile +++ b/drivers/remoteproc/Makefile @@ -14,3 +14,4 @@ obj-$(CONFIG_REMOTEPROC_TI_K3_ARM64) += ti_k3_arm64_rproc.o obj-$(CONFIG_REMOTEPROC_TI_K3_DSP) += ti_k3_dsp_rproc.o obj-$(CONFIG_REMOTEPROC_TI_K3_R5F) += ti_k3_r5f_rproc.o obj-$(CONFIG_REMOTEPROC_TI_POWER) += ti_power_proc.o +obj-$(CONFIG_REMOTEPROC_TI_PRU) += pru_rproc.o diff --git a/drivers/remoteproc/pru_rproc.c b/drivers/remoteproc/pru_rproc.c new file mode 100644 index 0000000000..832cffb1a0 --- /dev/null +++ b/drivers/remoteproc/pru_rproc.c @@ -0,0 +1,405 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * PRU-RTU remoteproc driver for various SoCs + * + * Copyright (C) 2020 Texas Instruments Incorporated - http://www.ti.com/ + * Keerthy j-keerthy@ti.com + */ + +#include <common.h> +#include <dm.h> +#include <dm/device_compat.h> +#include <elf.h> +#include <dm/of_access.h> +#include <remoteproc.h> +#include <errno.h> +#include <clk.h> +#include <reset.h> +#include <regmap.h> +#include <syscon.h> +#include <asm/io.h> +#include <power-domain.h> +#include <ti-pruss.h> + +/* PRU_ICSS_PRU_CTRL registers */ +#define PRU_CTRL_CTRL 0x0000 +#define PRU_CTRL_STS 0x0004 +#define PRU_CTRL_WAKEUP_EN 0x0008 +#define PRU_CTRL_CYCLE 0x000C +#define PRU_CTRL_STALL 0x0010 +#define PRU_CTRL_CTBIR0 0x0020 +#define PRU_CTRL_CTBIR1 0x0024 +#define PRU_CTRL_CTPPR0 0x0028 +#define PRU_CTRL_CTPPR1 0x002C + +/* CTRL register bit-fields */ +#define CTRL_CTRL_SOFT_RST_N BIT(0) +#define CTRL_CTRL_EN BIT(1) +#define CTRL_CTRL_SLEEPING BIT(2) +#define CTRL_CTRL_CTR_EN BIT(3) +#define CTRL_CTRL_SINGLE_STEP BIT(8) +#define CTRL_CTRL_RUNSTATE BIT(15) + +#define RPROC_FLAGS_SHIFT 16 +#define RPROC_FLAGS_NONE 0 +#define RPROC_FLAGS_ELF_PHDR BIT(0 + RPROC_FLAGS_SHIFT) +#define RPROC_FLAGS_ELF_SHDR BIT(1 + RPROC_FLAGS_SHIFT) + +/** + * enum pru_mem - PRU core memory range identifiers + */ +enum pru_mem { + PRU_MEM_IRAM = 0, + PRU_MEM_CTRL, + PRU_MEM_DEBUG, + PRU_MEM_MAX, +}; + +struct pru_privdata { + phys_addr_t pru_iram; + phys_addr_t pru_ctrl; + phys_addr_t pru_debug; + fdt_size_t pru_iramsz; + fdt_size_t pru_ctrlsz; + fdt_size_t pru_debugsz; + const char *fw_name; + u32 iram_da; + u32 pdram_da; + u32 sdram_da; + u32 shrdram_da; + u32 bootaddr; + int id; + struct pruss *prusspriv; +}; + +/** + * pru_start() - start the pru processor + * @dev: corresponding k3 remote processor device + * + * Return: 0 if all goes good, else appropriate error message. + */ +static int pru_start(struct udevice *dev) +{ + struct pru_privdata *priv; + int val = 0; + + priv = dev_get_priv(dev); + + val = CTRL_CTRL_EN | ((priv->bootaddr >> 2) << 16); + writel(val, priv->pru_ctrl + PRU_CTRL_CTRL); + + return 0; +} + +/** + * pru_stop() - Stop pru processor + * @dev: corresponding k3 remote processor device + * + * Return: 0 if all goes good, else appropriate error message. + */ +static int pru_stop(struct udevice *dev) +{ + struct pru_privdata *priv; + int val = 0; + + priv = dev_get_priv(dev); + + val = readl(priv->pru_ctrl + PRU_CTRL_CTRL); + val &= ~CTRL_CTRL_EN; + writel(val, priv->pru_ctrl + PRU_CTRL_CTRL); + + return 0; +} + +/** + * pru_init() - Initialize the remote processor + * @dev: rproc device pointer + * + * Return: 0 if all went ok, else return appropriate error + */ +static int pru_init(struct udevice *dev) +{ + return 0; +} + +/* + * Convert PRU device address (data spaces only) to kernel virtual address + * + * Each PRU has access to all data memories within the PRUSS, accessible at + * different ranges. So, look through both its primary and secondary Data + * RAMs as well as any shared Data RAM to convert a PRU device address to + * kernel virtual address. Data RAM0 is primary Data RAM for PRU0 and Data + * RAM1 is primary Data RAM for PRU1. + */ +static void *pru_d_da_to_pa(struct pru_privdata *priv, u32 da, int len) +{ + u32 offset; + void *pa = NULL; + phys_addr_t dram0, dram1, shrdram2; + u32 dram0sz, dram1sz, shrdram2sz; + + if (len <= 0) + return NULL; + + dram0 = priv->prusspriv->pruss_dram0; + dram1 = priv->prusspriv->pruss_dram1; + shrdram2 = priv->prusspriv->pruss_shrdram2; + dram0sz = priv->prusspriv->pruss_dram0sz; + dram1sz = priv->prusspriv->pruss_dram1sz; + shrdram2sz = priv->prusspriv->pruss_shrdram2sz; + + /* PRU1 has its local RAM addresses reversed */ + if (priv->id == 1) { + dram1 = priv->prusspriv->pruss_dram0; + dram0 = priv->prusspriv->pruss_dram1; + dram1sz = priv->prusspriv->pruss_dram0sz; + dram0sz = priv->prusspriv->pruss_dram1sz; + } + + if (da >= priv->pdram_da && da + len <= priv->pdram_da + dram0sz) { + offset = da - priv->pdram_da; + pa = (__force void *)(dram0 + offset); + } else if (da >= priv->sdram_da && + da + len <= priv->sdram_da + dram1sz) { + offset = da - priv->sdram_da; + pa = (__force void *)(dram1 + offset); + } else if (da >= priv->shrdram_da && + da + len <= priv->shrdram_da + shrdram2sz) { + offset = da - priv->shrdram_da; + pa = (__force void *)(shrdram2 + offset); + } + + return pa; +} + +/* + * Convert PRU device address (instruction space) to kernel virtual address + * + * A PRU does not have an unified address space. Each PRU has its very own + * private Instruction RAM, and its device address is identical to that of + * its primary Data RAM device address. + */ +static void *pru_i_da_to_pa(struct pru_privdata *priv, u32 da, int len) +{ + u32 offset; + void *pa = NULL; + + if (len <= 0) + return NULL; + + if (da >= priv->iram_da && + da + len <= priv->iram_da + priv->pru_iramsz) { + offset = da - priv->iram_da; + pa = (__force void *)(priv->pru_iram + offset); + } + + return pa; +} + +/* PRU-specific address translator */ +static void *pru_da_to_pa(struct pru_privdata *priv, u64 da, int len, u32 flags) +{ + void *pa; + u32 exec_flag; + + exec_flag = ((flags & RPROC_FLAGS_ELF_SHDR) ? flags & SHF_EXECINSTR : + ((flags & RPROC_FLAGS_ELF_PHDR) ? flags & PF_X : 0)); + + if (exec_flag) + pa = pru_i_da_to_pa(priv, da, len); + else + pa = pru_d_da_to_pa(priv, da, len); + + return pa; +} + +/* + * Custom memory copy implementation for ICSSG PRU/RTU Cores + * + * The ICSSG PRU/RTU cores have a memory copying issue with IRAM memories, that + * is not seen on previous generation SoCs. The data is reflected properly in + * the IRAM memories only for integer (4-byte) copies. Any unaligned copies + * result in all the other pre-existing bytes zeroed out within that 4-byte + * boundary, thereby resulting in wrong text/code in the IRAMs. Also, the + * IRAM memory port interface does not allow any 8-byte copies (as commonly + * used by ARM64 memcpy implementation) and throws an exception. The DRAM + * memory ports do not show this behavior. Use this custom copying function + * to properly load the PRU/RTU firmware images on all memories for simplicity. + * + * TODO: Improve the function to deal with additional corner cases like + * unaligned copy sizes or sub-integer trailing bytes when the need arises. + */ +static int pru_rproc_memcpy(void *dest, void *src, size_t count) +{ + const int *s = src; + int *d = dest; + int size = count / 4; + int *tmp_src = NULL; + + /* limited to 4-byte aligned addresses and copy sizes */ + if ((long)dest % 4 || count % 4) + return -EINVAL; + + /* src offsets in ELF firmware image can be non-aligned */ + if ((long)src % 4) { + tmp_src = malloc(count); + if (!tmp_src) + return -ENOMEM; + + memcpy(tmp_src, src, count); + s = tmp_src; + } + + while (size--) + *d++ = *s++; + + kfree(tmp_src); + + return 0; +} + +/** + * pru_load() - Load pru firmware + * @dev: corresponding k3 remote processor device + * @addr: Address on the RAM from which firmware is to be loaded + * @size: Size of the pru firmware in bytes + * + * Return: 0 if all goes good, else appropriate error message. + */ +static int pru_load(struct udevice *dev, ulong addr, ulong size) +{ + struct pru_privdata *priv; + Elf32_Ehdr *ehdr; + Elf32_Phdr *phdr; + int i, ret = 0; + + priv = dev_get_priv(dev); + + ehdr = (Elf32_Ehdr *)addr; + phdr = (Elf32_Phdr *)(addr + ehdr->e_phoff); + + /* go through the available ELF segments */ + for (i = 0; i < ehdr->e_phnum; i++, phdr++) { + u32 da = phdr->p_paddr; + u32 memsz = phdr->p_memsz; + u32 filesz = phdr->p_filesz; + u32 offset = phdr->p_offset; + void *ptr; + + if (phdr->p_type != PT_LOAD) + continue; + + dev_dbg(dev, "phdr: type %d da 0x%x memsz 0x%x filesz 0x%x\n", + phdr->p_type, da, memsz, filesz); + + if (filesz > memsz) { + dev_dbg(dev, "bad phdr filesz 0x%x memsz 0x%x\n", + filesz, memsz); + ret = -EINVAL; + break; + } + + if (offset + filesz > size) { + dev_dbg(dev, "truncated fw: need 0x%x avail 0x%zx\n", + offset + filesz, size); + ret = -EINVAL; + break; + } + + /* grab the kernel address for this device address */ + ptr = pru_da_to_pa(priv, da, memsz, + RPROC_FLAGS_ELF_PHDR | phdr->p_flags); + if (!ptr) { + dev_dbg(dev, "bad phdr da 0x%x mem 0x%x\n", da, memsz); + ret = -EINVAL; + break; + } + + /* skip the memzero logic performed by remoteproc ELF loader */ + if (!phdr->p_filesz) + continue; + + ret = pru_rproc_memcpy(ptr, + (void *)addr + phdr->p_offset, filesz); + if (ret) { + dev_dbg(dev, "PRU custom memory copy failed for da 0x%x memsz 0x%x\n", + da, memsz); + break; + } + } + + priv->bootaddr = ehdr->e_entry; + + return ret; +} + +static const struct dm_rproc_ops pru_ops = { + .init = pru_init, + .start = pru_start, + .stop = pru_stop, + .load = pru_load, +}; + +static void pru_set_id(struct pru_privdata *priv, struct udevice *dev) +{ + u32 mask2 = 0x38000; + + if (device_is_compatible(dev, "ti,am654-rtu")) + mask2 = 0x6000; + + if ((priv->pru_iram & mask2) == mask2) + priv->id = 1; + else + priv->id = 0; +} + +/** + * pru_probe() - Basic probe + * @dev: corresponding k3 remote processor device + * + * Return: 0 if all goes good, else appropriate error message. + */ +static int pru_probe(struct udevice *dev) +{ + struct pru_privdata *priv; + int lenp; + ofnode node; + + node = dev_ofnode(dev); + + priv = dev_get_priv(dev); + priv->prusspriv = dev_get_priv(dev->parent); + + priv->pru_iram = devfdt_get_addr_size_index(dev, PRU_MEM_IRAM, + &priv->pru_iramsz); + priv->pru_ctrl = devfdt_get_addr_size_index(dev, PRU_MEM_CTRL, + &priv->pru_ctrlsz); + priv->pru_debug = devfdt_get_addr_size_index(dev, PRU_MEM_DEBUG, + &priv->pru_debugsz); + + priv->fw_name = ofnode_get_property(node, "firmware-name", &lenp); + + priv->iram_da = 0; + priv->pdram_da = 0; + priv->sdram_da = 0x2000; + priv->shrdram_da = 0x10000; + + pru_set_id(priv, dev); + + return 0; +} + +static const struct udevice_id pru_ids[] = { + { .compatible = "ti,am654-pru"}, + { .compatible = "ti,am654-rtu"}, + {} +}; + +U_BOOT_DRIVER(pru) = { + .name = "pru", + .of_match = pru_ids, + .id = UCLASS_REMOTEPROC, + .ops = &pru_ops, + .probe = pru_probe, + .priv_auto_alloc_size = sizeof(struct pru_privdata), +};